WO2023028967A1 - Dispositif de mesure de position absolue - Google Patents

Dispositif de mesure de position absolue Download PDF

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Publication number
WO2023028967A1
WO2023028967A1 PCT/CN2021/116319 CN2021116319W WO2023028967A1 WO 2023028967 A1 WO2023028967 A1 WO 2023028967A1 CN 2021116319 W CN2021116319 W CN 2021116319W WO 2023028967 A1 WO2023028967 A1 WO 2023028967A1
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Prior art keywords
absolute
position information
code
incremental
cabs
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PCT/CN2021/116319
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English (en)
Chinese (zh)
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薛颖奇
石忠东
朱书雅
仲婷婷
孟凯
陈江虎
宋修进
李晨骋
万培迪
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北京精雕科技集团有限公司
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Priority to PCT/CN2021/116319 priority Critical patent/WO2023028967A1/fr
Publication of WO2023028967A1 publication Critical patent/WO2023028967A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales

Definitions

  • the invention relates to the technical field of measurement, in particular to an absolute position measuring device.
  • position measuring devices can provide angle or length information, they are increasingly used in many fields such as CNC machine tools, robots, and industrial automation.
  • the incremental type includes at least two code channels, an incremental code channel and a reference code channel. Among them, the incremental code track is evenly marked, and it is necessary to combine the zero signal generated by the reference code track to obtain angle or position information.
  • the incremental type is characterized by simple structure, quick response, and easy miniaturization, but there is a phenomenon of error accumulation, which will easily cause data loss when encountering a power failure, and it needs to move left and right to obtain the zero signal when power is turned on.
  • the absolute type has a fixed zero point, the absolute position information can be obtained when the power is turned on, the anti-interference ability is strong, and there is no cumulative error.
  • Absolute codes mainly include Gray codes, pseudo-random codes and Manchester codes. Due to the large number of code channels and the dense arrangement of reading units along the radial direction, the Gray code coding method is not easy to be miniaturized, and has almost been eliminated by the market in recent years.
  • pseudo-random codes to index incremental code tracks is the mainstream coding scheme for absolute position measuring devices.
  • the pseudo-random code is unique in its coding sequence. By reading the index code track information through the photoelectric sensor, the incremental code track position corresponding to the current measuring device can be known, and the incremental position information can be further subdivided to obtain More precise location information.
  • the pseudo-random code width must be consistent with the incremental code width, otherwise accurate indexing cannot be achieved.
  • the object of the present invention is to provide an absolute position measuring device, aiming to solve the above-mentioned problems in the prior art.
  • the invention provides an absolute position measuring device, comprising:
  • an absolute code track comprising a non-periodically arranged sequence of symbols having a first characteristic and a second characteristic
  • an incremental code track comprising a periodically arranged sequence of symbols having a first characteristic and a second characteristic
  • the absolute code reading module is used to scan the code element sequence of the absolute code track through the sensing unit, and generate an initial effective absolute code through operation;
  • the absolute code correction module is used to analyze and process the initial effective absolute code to obtain the corrected final effective absolute code, and perform calculation or table lookup on the final effective absolute code to obtain rough absolute position information;
  • Absolute code track incremental position information generating module used to analyze and calculate the initial effective absolute code to obtain position information within a single cycle of the absolute code track;
  • the primary high-resolution position information generation module is used to combine the position information within a single cycle of the absolute code track with the rough absolute position information to obtain primary high-resolution absolute position information, and use the high-resolution absolute position information to Incremental code tracks are indexed to obtain higher resolution position information.
  • the incremental code track position information generation module is used to process the analog signal generated by scanning the incremental code track to obtain sine and cosine signals, and generate the position information of the incremental code track in a single cycle through subdivision operations;
  • the advanced high-resolution position information generation module is used to index the primary high-resolution absolute position information to the incremental code track reticle period, and combine the position information within a single period of the incremental code track to generate a higher-resolution absolute position information. location information.
  • Adopting the embodiment of the present invention has the advantages of both absolute and incremental measurements, and high-resolution position measurement results can be obtained after power-on.
  • the position information generated by the absolute code track and the position information generated by the incremental code track can be Perform mutual verification to improve the accuracy of position measurement.
  • FIG. 1 is a schematic diagram of an absolute position measuring device according to an embodiment of the present invention.
  • Fig. 2a is a schematic diagram of scheme 1 of an absolute code path and an incremental code path according to an embodiment of the present invention
  • Fig. 2b is a schematic diagram of scheme 2 of the absolute code path and the incremental code path according to the embodiment of the present invention
  • Fig. 3 is a schematic diagram of an analog signal generated by a scanning element scanning a single code track measurement reference unit according to an embodiment of the present invention
  • Fig. 4 is the working principle diagram of the absolute code reading module of the embodiment of the present invention.
  • Fig. 5 is a working principle diagram of the absolute code correction module of the embodiment of the present invention.
  • Fig. 6 is a working principle diagram of the absolute code track incremental position information generation module according to the embodiment of the present invention.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include one or more of said features.
  • plural means two or more, unless otherwise specifically defined.
  • installation”, “connection” and “connection” should be interpreted in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be It can be directly connected, or indirectly connected through an intermediary, and can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.
  • FIG. 1 is a schematic diagram of an absolute position measuring device according to an embodiment of the present invention. As shown in FIG. 1 , the absolute position measuring device according to an embodiment of the present invention specifically include:
  • the symbol sequence of absolute code channel 1 adopts “1010” and "1000", “1010” and “1011”, “0101” and “0100”, “0101” and “0111", “101010” and “101000", or A sequence combination of "10101010" and "10100000”.
  • Incremental code track 2 includes a periodic arrangement of symbol sequences with first and second characteristics; incremental code track 2 is composed of two optical characteristic units, the light-transmitting part T1 and the opaque part T2, and the incremental code
  • the absolute code reading module 5 is used to scan the code element sequence of the absolute code channel 1 through the sensing units D 1 to D n of the scanning element 3, and generate an initial effective absolute code through operation; the scanning element is used to generate a rough absolute code
  • the sensing units of the position information and the absolute code channel incremental position information are adjacent to each other, and the sensing units located in the code element sequence CA and CB are used to generate rough absolute position information, and the sensing units located in the code element sequence CA It is used to generate absolute track incremental position information.
  • the absolute code reading module 5 specifically includes:
  • the value judging unit includes s judging modules, which are connected to the difference calculation unit, and are used to judge the difference result RC i through the corresponding i-th judging module, if the difference between the difference result RC i and zero is less than the preset value, the judgment result is 1, otherwise the judgment result is 0;
  • the logic and operation unit includes s/4 operation modules, which are connected to the numerical judgment unit, and are used to perform logic AND operations on the corresponding four sets of judgment results through the corresponding operation modules to obtain s/4 operation results; wherein, If the two sets of sensing units participating in the differential operation are all within the increment period "10", the operation result is 1, otherwise the operation result is 0;
  • the summary unit includes two groups, which are connected with the logic and operation unit. Each group is used to summarize the operation results bit by bit, and the absolute code CABS' is obtained by summarizing all the operation results in the odd-numbered positions. For all the even-numbered positions The calculation results of are summarized to obtain the absolute code CABS;
  • the summation operation unit includes two groups, which are connected with the logic and operation unit, and each group is used to carry out the summation operation on the operation result bit by interval, respectively, to obtain two groups of summation results;
  • the difference calculation unit is further used to: compare the two groups of summation results through the s+1 difference module to obtain the difference R, and judge R, if R>0, then CABS is the initial effective absolute code, otherwise , CABS' is the initial valid absolute code.
  • the absolute code correction module 6 is used to analyze and process the initial effective absolute code to obtain the final effective absolute code after correction, and perform calculation or table lookup on the final effective absolute code to obtain rough absolute position information; the absolute code correction module 6 is specific include:
  • Logical operation unit used to perform XOR operation on groups of initially effective absolute coded sequences, and perform logical AND operation on the operation results to obtain the RIN or RIN' value
  • Logic judgment unit used to judge whether RIN' or RIN is 1, when R ⁇ 0, if RIN' is 1, then CABS' is the final effective absolute code, if RIN' is not 1, then judge the initial effective code sequence Whether the first bit M' 1 of CABS' is 1, if it is 1, insert a value 0 before CABS', and remove the last bit of CABS' to get the final effective absolute code 0-CABS'; if M' 1 is 0, then in Insert the value 1 before CABS', and remove the last digit of CABS' to get the final effective absolute code 1-CABS'; when R>0, if RIN is 1, then CABS is the final effective absolute code, if RIN is not 1 , then judge whether the first bit M 1 of the initial effective coding sequence CABS is 1, if it is 1, insert a value 0 before the CABS, and remove the last bit of the CABS to obtain the final effective absolute code 0-CABS, if M 1 is 0, then Insert the value 1 before CABS, and remove the last bit of CA
  • the absolute code track incremental position information generation module 7 is used to generate incremental signals according to the initial effective absolute code, and subdivides the incremental signals to obtain position information in a single cycle of the absolute code track; the absolute code track incremental signal 7
  • the generated modules specifically include:
  • the sensing unit selection module is used to analyze the initial effective absolute coding sequence, find the sensing units corresponding to the value "1" in all the generated initial effective absolute coding sequences, and group them into SIN+, COS+, and SIN according to their phase information - and COS - four groups;
  • the adder is connected with the sensing unit selection module, and is used for summing all analog signals with the same phase to obtain incremental position information INC0, INC90, INC180 and INC270, namely SIN+, COS+, SIN- and COS-;
  • the differential operator is connected with the adder, and is used to perform differential calculations on the incremental position information INC0 and INC180 and INC90 and INC270 respectively to obtain high-quality incremental position information IN0 and IN90 with a phase difference of 90°, namely SIN and COS signal, subdividing the SIN and COS signals to obtain the incremental position information INC P1 within a single incremental period of the absolute code channel.
  • the primary high-resolution position information generation module 8 is used to combine the position information within a single period of the absolute code track with the rough absolute position information to obtain high-resolution absolute position information, and index the incremental code track through the high-resolution absolute position information .
  • the primary high-resolution position information generation module 8 is specifically configured to: generate primary high-resolution absolute position information ABS by combining the position information INC P1 within a single period of the absolute code track with rough absolute position information, and index the incremental code track.
  • the above-mentioned device may further include:
  • Incremental code track position information generating module 9 is used to process the analog signal generated by scanning the incremental code track to obtain high-quality sine and cosine signals, and generate incremental code track single-cycle position information through subdivision operations;
  • the incremental code track position information generation module 9 is specifically used to adjust the amplitude, center level and phase of the analog signals a 1 ⁇ a m generated by scanning the incremental code track 2 with the scanning element 4 to obtain high-quality sinusoidal signals, Generate the position information INC P2 within a single cycle of the incremental code channel through subdivision operation;
  • the advanced high-resolution position information generation module 10 is used to combine the high-resolution absolute position information with the position information within a single cycle obtained by subdividing the incremental code track signal to obtain higher-resolution absolute position information.
  • the advanced high-resolution position information generation module 10 is specifically used for: using the primary high-resolution absolute position information ABS to index the incremental code track reticle cycle, combining the high-quality sine-cosine signals obtained by scanning the incremental code track to subdivide the incremental The position information INC P2 within a single period of the code track generates higher-resolution absolute position information ABS F .
  • the above-mentioned device further includes:
  • a check module is used to check each other according to the position information generated by the absolute code track and the position information generated by the incremental code track;
  • the resolution selection module is used to provide absolute position information with three resolutions: rough absolute position information, primary high-resolution absolute position information and advanced high-resolution absolute position information. Absolute position information with different resolutions can be selected through output control output.
  • the absolute position measuring device includes an absolute code track, an incremental code track, an absolute code reading module, an absolute code correction module, an absolute code track incremental position information generation module, and an incremental code track position information generation module module, the primary high-resolution position information generation module and the advanced high-resolution position information generation module, the absolute code reading module reads the absolute code track, decodes and generates the initial effective absolute code, and the absolute code correction module corrects the initial absolute code to obtain The final absolute code, operation or look-up table to obtain rough absolute position information, the absolute code channel incremental position information generation module generates incremental signals according to the initial effective absolute code, and subdivides the incremental signals to obtain the position within a single cycle of the absolute code track Information, the primary high-resolution position information generation module, combines the above-mentioned single-cycle position information with rough absolute position information to obtain high-resolution absolute position information to index and verify the incremental code track, and the incremental code track position information
  • the generation module processes the analog signal obtained by scanning the incremental code track to obtain high-quality sine and
  • the absolute code channel adopts a specially designed absolute coding rule, and the absolute position information and the incremental position information can be generated simultaneously according to a single code channel. index.
  • absolute code track encoding rule absolute code reading module, absolute code correction module, absolute code track incremental position information generation module, incremental code track position information generation module, primary high-resolution High-rate position information generation module and advanced high-resolution position information generation module are not limited to transmission type and photoelectric measurement, but are also applicable to reflection type, magnetoelectric type, inductive type and other measurement methods.
  • Code channel coding adopts the permutation and combination of sequences "1010” and “1000” to generate absolute codes such as Manchester code and pseudo-random code.
  • the coding sequence is not limited to “1010” and “1000”, but also includes “1010” and “1011”, “0101” and “0100”, “0101” and “0111”, “101010” and “101000”, “10101010” Combined with sequences with this characteristic such as "10100000".
  • the coding sequence in the illustration in the embodiment of the present invention is expressed as a 6-bit Manchester code
  • the measurement reference unit length, coding rules, absolute code reading method and incremental signal generation method in the embodiment of the present invention are not limited to coded bits
  • Number and absolute coding types are not only suitable for Manchester codes, but also for other absolute coding types such as pseudo-random codes, and have strong universality.
  • the absolute code reading module performs differential calculations on the corresponding sensing unit signals corresponding to SIN+, COS+, SIN-, and COS- in adjacent periods "10" or "00", and the results are sent to the judgment After the unit, perform logical AND operation to obtain the absolute code. If the two sets of sensing units participating in the differential operation are all within the increment period "10", the logical operation result is 1, otherwise the logical operation result is 0, and the absolute code value of a specific number of digits can be obtained by collecting the logical operation results. After each signal acquisition, the absolute code reading module generates two sets of absolute code values, one of which has the characteristics of Manchester code coding, and the other is almost all 0 in most cases.
  • the correct absolute code value can also be distinguished by performing XOR operation on two adjacent bits of the absolute code sequence.
  • the starting and ending positions of the array sensing units to be selected can be determined for generating incremental signals.
  • a high-quality incremental signal is obtained by scanning the combination of the absolute code sequence, and the incremental signal corresponds to the absolute code value and has subdivision.
  • the sensing units that generate incremental signals are adjacent to each other, and have the characteristic of single-field scanning.
  • the sensing units located in the coding sequences CA and CB are both used to generate absolute codes, and the sensing units in the coding sequence CA are also used to generate incremental information.
  • the 8 sensing units in each coding sequence CA can generate two sets of identical SIN+, SIN- and COS+, COS- signals, and the amplitudes and phases of the two sets of sine and cosine signals are equal.
  • the sensing unit used to generate the incremental signal selected each time contains the same number of CA sequences, so that the amplitude and phase of the final incremental signal remain stable, so that high-quality incremental signals can be obtained, which can Carry out high multiple subdivision.
  • the 8 sensing units in the coding sequence CA can be used to generate incremental signals alone, or the sensing units at different positions CA can be selected to be combined to generate incremental signals.
  • the high-quality incremental signal generated by the absolute code channel can be subdivided by a high multiple within the single signal period of the absolute code channel through differential and arctangent operations. In combination with the resulting absolute coded values, high-resolution absolute position measurements of absolute measuring devices are possible.
  • the marking cycle of the incremental code track does not have to be consistent with the marking cycle of the absolute code track, and the position information generated by the absolute code track can be used to index the incremental code track signal with a high number of lines. Combining the position information generated by the incremental code track with the position information generated by the absolute code track, higher resolution absolute position information can be obtained.
  • the high-resolution position data obtained according to the absolute code track in the embodiment of the present invention can be used to index the incremental code track on the one hand, and can be used to verify the position data generated by the incremental code track during operation to ensure accurate location information.
  • the device in the embodiment of the present invention specifically includes an absolute code track, an incremental code track, an absolute code reading module, an absolute code correction module, an absolute code track incremental position information generation module, and an incremental code track position information generation module. module, primary high-resolution location information generation module, and advanced high-resolution location information generation module.
  • the absolute code of the absolute code track is decoded by the absolute code reading module to generate the initial absolute code, and the absolute code correction module corrects the initial absolute code to generate the final absolute code.
  • the volume position information generation module generates high-quality incremental signals from the initial absolute encoding, and the high-resolution position information generation module subdivides the incremental signals, combined with rough absolute position information, to obtain high-resolution absolute position information, which is used for incremental Index and check the code channel signal. Subdividing the incremental code track signal at a higher multiple, combined with the above-mentioned high-resolution absolute position information, can obtain higher-resolution absolute position information.
  • the measurement device combines the advantages of absolute and incremental measurement, and high-resolution position measurement results can be obtained after power-on. At the same time, the position information generated by the absolute code track and the position information generated by the incremental code track can be mutually verified to improve the accuracy of position measurement. High-resolution absolute position measurement is possible.
  • FIG 1 in Figure 1 is the absolute code track of the absolute position measuring device, which is composed of two optical characteristic units T1 and T2. Among them, T1 is completely transparent or reflective, and T2 is opaque or non-reflective.
  • the measurement benchmark adopts Manchester code for rough coding, and the width of each Manchester code is B.
  • CA represents Manchester code "1"
  • CB represents Manchester code "0"
  • the CB is divided into a set of light-transmitting and opaque parts, the width of the light-transmitting part is P1/2, and the width of the opaque part is 3P1/2. Therefore, in the diagram of this patent, the Manchester code CA represents the coding component sequence "1010", and the Manchester code CB represents the coding component sequence "1000".
  • the scanning array composed of D 1 ⁇ D n and the scanning array composed of d 1 ⁇ d m scan the absolute code track 1 and the incremental code track 2 respectively, and generate analog signals A 1 ⁇ A n and a 1 ⁇ a m respectively.
  • the absolute code reading module 5 generates the initial effective absolute code CABS or CABS' and R value through the analysis and operation of the analog signals A 1 -A n .
  • the absolute code correction module 6 performs analysis and calculation processing on the initial effective absolute code to obtain the corrected final effective absolute code, and performs calculation or table lookup on the final effective absolute code to obtain rough absolute position information.
  • the absolute code channel incremental position information generation module 7 searches the sensing unit corresponding to the value "1" in the final effective absolute coding sequence, and accumulates all the analog signals generated by the sensing units with the same phase, and generates The position information INC P1 within a single cycle of the absolute code track.
  • the primary high-resolution position information generation module 8 combines the position information INC P1 within a single cycle of the absolute code track with the rough absolute position information to obtain the primary high-resolution absolute position information ABS.
  • the incremental code track position information generating module 9 obtains the position information INC P2 of the incremental code track within a single period P2 by analyzing and calculating the analog signals a 1 -am .
  • the high-level high-resolution position generating module 10 combines the position information INC P2 within the single period P2 of the incremental code track with the primary high-resolution absolute position information ABS to obtain higher-resolution absolute position information ABS F .
  • Fig. 2a and Fig. 2b are schematic diagrams of the corresponding relationship between two representative absolute code channels and incremental code channels.
  • 1.1 and 1.2 are the absolute code track of the absolute position measuring device, which are composed of two optical characteristic units T1 and T2
  • 2.1 and 2.2 are the incremental code track of the absolute position measuring device, which are also composed of two optical characteristic units T1 and T2 Composition of characteristic units.
  • Fig. 3 is the absolute code track of an example of an absolute position measuring device, the absolute code sequence represented is "1010 1000 1000 1010 1000 1010", and its corresponding 6-bit Manchester code is "100101".
  • the scanning element 3 is composed of D 1 to D 60 , arranged along the movement direction of the measurement reference 1, the distance between the sensing units is P1/4, and every two sensing units correspond to an absolute coding unit "1" or "0", each The Manchester code corresponds to 8 sensing units. Every 4 sensing units correspond to an incremental period P1 on the measurement standard 1, as shown in the figure, D 1 to D 4 correspond to the first "10" of the absolute code sequence, and D 5 to D 8 correspond to the second "10"", D 17 to D 20 correspond to the first "00” and so on.
  • the scanning element 5 scans the measuring standard 3 to generate analog signals A 1 to A 60 , which are sent to the absolute code reading module for processing.
  • the signal acquisition is carried out by the sensing unit d 1 to d m to obtain the analog signal a 1 to a m , the sensing unit interval is P2/4, each The increment period corresponds to 4 sensing units, corresponding to 0°, 90°, 180° and 270° phases respectively.
  • the signals A i and A i+4 generated by the scanning element 3 are sent to the differential comparator 11.x for differential operation, as shown in FIG. 4 .
  • i is an integer from 1 to 48.
  • the difference result RC i is input to the value judging unit 12.y for judgment, if the value RC i is close to zero, it outputs 1, otherwise it outputs 0.
  • the results are respectively sent to 13.1 to 13.12 for logical AND operation to obtain M' 1 to M' 6 and M 1 to M 6 .
  • two sets of absolute codes CABS and CABS' are obtained. When the position is shown in the figure, CABS and CABS' are "100101" and "100000", respectively.
  • the absolute code correction module 6 send the initial effective absolute code to the absolute code correction module 6 for calculation and analysis, determine whether the initial effective absolute code needs to be corrected, and judge whether the current interval is "1st" or "2nd", as shown in Figure 3. If the interval is "1st", the initial effective absolute code is the final rough absolute code. Otherwise, it is necessary to determine whether to insert "1" or "0” before the initial effective absolute code according to the value of the first digit of the initial effective absolute code as "0" or "1", and remove the last digit of the initial effective absolute code to obtain the final rough absolute code coding sequence.
  • the final coarse and effective absolute code can determine the rough absolute position information by means of table lookup or calculation.
  • the absolute coding sequence shown in FIG. 3 is "100101", which is consistent with the Manchester code coding information on the single code track measurement reference unit 1 .
  • the initial effective absolute coding sequence is determined according to the R value, and all corresponding sensing units that generate the value "1" in the initial effective absolute coding sequence are found.
  • the symbol that produces the value "1" in the original effective absolute code sequence is "1010" or "0101", which is the same as the incremental code track. Therefore, the analog signals generated by the corresponding sensing units are actually SIN+, COS+, SIN-, and COS- respectively, and the analog signals generated by all the sensing units with the same phase are accumulated and processed, and sent to the adder for summing operation, to obtain Incremental position information INC0, INC90, INC180 and INC270, namely SIN+, COS+, SIN- and COS-.
  • the primary high-resolution position information generation module 8 combines the position information INC P1 within a single period of the absolute code track with the rough absolute position information to obtain the high-resolution position data ABS of the single-code track absolute measuring device.
  • the incremental code track position information generation module 9 adjusts the amplitude, center level and phase of the analog signals a 1 ⁇ a m generated by scanning the incremental code track 2 with the scanning element 4 to obtain high-quality sine and cosine signals, which are subdivided and calculated Generate the position information INC P2 in the single cycle of the incremental code track;
  • the advanced high-resolution position information generation module 10 uses the primary high-resolution absolute position information ABS to index the incremental code track reticle cycle, and combines the position information INC P2 within a single cycle of the incremental code track to generate higher-resolution absolute position information ABS F.
  • the high-resolution position data ABS can be used to index the incremental code track signal to generate the final high-resolution absolute position data ABS F , and on the other hand, it can be used to verify the position information generated by the incremental code track.
  • the position measuring device sends a fault alarm, thereby improving the accuracy of the measuring device.
  • the present invention proposes an absolute encoding rule, which is simple in encoding, strong in readability, has the characteristics of both absolute codes and incremental codes, and also has the characteristics of Manchester codes.
  • the present invention proposes an absolute encoding reading method, which decodes through a hardware circuit to obtain an absolute encoding value.
  • a method for generating a high-quality incremental signal that is correlated to the absolute coded value is proposed.
  • the proposed absolute position measuring device through the reading of the above absolute code and incremental code, subdivides the incremental signal and combines it with the absolute code, which can realize the position measurement of the absolute code track with higher resolution, and can also be used for Incremental code tracks are indexed to obtain higher resolution position information.
  • the absolute code and code reading method of the embodiment of the present invention can obtain the absolute position value when powering on, and can also provide the absolute position information during operation, which can be checked and compared with the position value obtained by the incremental code track to ensure that the absolute position value can be obtained Accurate location data.
  • the absolute coding scheme has the characteristics of incremental code and absolute code, and also has the characteristics of Manchester code. Absolute coding sequences of different lengths and bits can be obtained through different combinations of coding constituent sequences. Not only applicable to pseudo-random codes, but also applicable to other absolute encoding methods.
  • the absolute code reading method includes signal acquisition and electrical signal processing.
  • the signal is output through the sensitive element, and after analog-to-digital conversion, it is sent to the differential comparator module. After the operation, it is input to the logic module for logical judgment, and two absolute coding sequences can be obtained. At least one of the absolute coding sequences has Manchester code characteristics.
  • the two absolute coding sequences are stored, and on the other hand, they are sent to the adder for summing, and the result is sent to the differential comparator to compare with the other summing result, and the one with the larger value is the correct absolute coding value.
  • the rough absolute position information can be obtained, which can be accurately positioned to a specific position.
  • the absolute code channel incremental signal generation method determines the combination of signal units sent to the adder by analyzing the above two absolute code sequences, and sums them to obtain SIN+, SIN-, COS+ and COS- signals. After the differential operation The SIN and COS signals are obtained, and the above-mentioned SIN and COS incremental signals are subjected to arctangent operation, and the position information within the absolute code track single signal cycle can be obtained by looking up the table.
  • the high-resolution position measurement of the absolute position measuring device can be realized, that is, it can be used for indexing of high-line incremental signals to obtain higher-resolution position information, and can also be used for incremental signal Calibration is performed to ensure the accuracy of the measured position information.
  • the improvement of a technology can be clearly distinguished as an improvement in hardware (for example, improvements in circuit structures such as diodes, transistors, switches, etc.) or improvements in software (improvement in method flow).
  • improvements in many current method flows can be regarded as the direct improvement of the hardware circuit structure.
  • Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by hardware physical modules.
  • a Programmable Logic Device such as a Field Programmable Gate Array (FPGA)
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • the controller may be implemented in any suitable way, for example the controller may take the form of a microprocessor or processor and a computer readable medium storing computer readable program code (such as software or firmware) executable by the (micro)processor , logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers and embedded microcontrollers, examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory.
  • controller in addition to realizing the controller in a purely computer-readable program code mode, it is entirely possible to make the controller use logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded The same function can be realized in the form of a microcontroller or the like. Therefore, such a controller can be regarded as a hardware component, and the devices included in it for realizing various functions can also be regarded as structures within the hardware component. Or even, means for realizing various functions can be regarded as a structure within both a software module realizing a method and a hardware component.
  • a typical implementing device is a computer.
  • the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Combinations of any of these devices.
  • one or more embodiments of this specification may be provided as a method, system or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present description may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory, such as read-only memory (ROM) or flash RAM.
  • RAM random access memory
  • ROM read-only memory
  • Memory is an example of computer readable media.
  • Computer-readable media including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information.
  • Information may be computer readable instructions, data structures, modules of a program, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.
  • program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
  • program modules may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.
  • program modules may be located in both local and remote computer storage media including storage devices.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

Est divulgué un dispositif de mesure de position absolue, comprenant : un canal de code absolu ; un canal de code incrémentiel ; un module de lecture de code absolu, pour balayer une séquence d'éléments de code du canal de code absolu au moyen d'une unité de détection et générer un code absolu effectif initial au moyen d'une opération ; un module de correction de code absolu, pour effectuer une opération d'analyse sur le code absolu effectif initial pour obtenir un code absolu effectif final corrigé, et effectuer une consultation de fonctionnement ou de table sur le code absolu effectif final pour obtenir des informations de position absolue grossière ; un module de génération d'informations de position d'incrément de canal de code absolu, pour effectuer une opération d'analyse sur le code absolu effectif initial pour obtenir des informations de position du canal de code absolu en une seule période ; et un module de génération d'informations de position à haute résolution primaire, pour obtenir des informations de position absolue à haute résolution primaire par combinaison des informations de position du canal de code absolu dans la période unique avec les informations de position absolue grossière, et indexer le canal de code incrémentiel au moyen des informations de position absolue à haute résolution pour obtenir des informations de position à haute résolution.
PCT/CN2021/116319 2021-09-02 2021-09-02 Dispositif de mesure de position absolue WO2023028967A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5068529A (en) * 1988-12-22 1991-11-26 Nikon Corporation Absolute position detection encoder
JP2017111068A (ja) * 2015-12-18 2017-06-22 セイコーＮｐｃ株式会社 光エンコーダ
EP3228994A1 (fr) * 2016-04-05 2017-10-11 Dr. Johannes Heidenhain GmbH Dispositif et procédé destinés à la mesure d'un angle
CN111289015A (zh) * 2018-12-10 2020-06-16 北京精雕科技集团有限公司 一种多分辨率绝对式位置测量装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5068529A (en) * 1988-12-22 1991-11-26 Nikon Corporation Absolute position detection encoder
JP2017111068A (ja) * 2015-12-18 2017-06-22 セイコーＮｐｃ株式会社 光エンコーダ
EP3228994A1 (fr) * 2016-04-05 2017-10-11 Dr. Johannes Heidenhain GmbH Dispositif et procédé destinés à la mesure d'un angle
CN111289015A (zh) * 2018-12-10 2020-06-16 北京精雕科技集团有限公司 一种多分辨率绝对式位置测量装置

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